#!/usr/bin/python
# coding=utf-8
import time
import rospy
import cv2 as cv
from geometry_msgs.msg import Twist
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
from std_msgs.msg import Int8

class image_converter:
    def __init__(self):
        self.cmd_pub = rospy.Publisher("/cmd_vel", Twist, queue_size=10)			# 发布运动控制信息
        self.moveclean_cmd = rospy.Publisher("/moveclean_cmd", Int8, queue_size=10)
        self.clean_cmd = rospy.Publisher("/clean_cmd", Int8, queue_size=10)
        self.bridge = CvBridge()
        self.image_sub = rospy.Subscriber("/usb_cam/image_raw", Image, self.imageCallback)		# 订阅摄像头信息
        self.moveclean_report_sub = rospy.Subscriber("/moveclean_report", Int8, self.moveCleanReportCallback)
        self.clean_report_sub = rospy.Subscriber("/clean_report", Int8, self.cleanReportCallback)
        self.start_adjust_flag = True
        self.finish_adjust_flag = True
        self.finish_clean_flag = True

    def imageCallback(self, data):
        try:
            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")			# 获取订阅的摄像头图像
        except CvBridgeError as e:
            print e
        # cv.imshow("Original_Image", cv_image)

        # 对图像进行处理
        kernel = cv.getStructuringElement(cv.MORPH_RECT, (3, 3))		# 定义结构元素
        height, width = cv_image.shape[0:2]
        screen_center = width / 2
        screen_center_h = height / 2
        
        offset = 50
        offset_h = 30
        lower_b = (35, 43, 46)
        upper_b = (77, 255, 255)
        
        hsv_frame = cv.cvtColor(cv_image, cv.COLOR_BGR2HSV)				# 转成HSV颜色空间
        mask = cv.inRange(hsv_frame, lower_b, upper_b)
        if len(mask) > 0:								
            mask2 = cv.morphologyEx(mask, cv.MORPH_OPEN, kernel)			# 开运算去噪
            mask3 = cv.morphologyEx(mask2, cv.MORPH_CLOSE, kernel)			# 闭运算去噪
            # cv.imshow("mask", mask3)
            
            # 找出面积最大的区域
            _, contours, _ = cv.findContours(mask3, cv.RETR_EXTERNAL, cv.CHAIN_APPROX_SIMPLE)
            maxArea = 0
            maxIndex = 0
            for i, c in enumerate(contours):
                area = cv.contourArea(c)
                if area > maxArea:
                    maxArea = area
                    maxIndex = i
            # 绘制轮廓
            cv.drawContours(cv_image, contours, maxIndex, (255, 255, 0), 2)		

            # 获取外切矩形
            x, y, w, h = cv.boundingRect(contours[maxIndex])
            cv.rectangle(cv_image, (x, y), (x + w, y + h), (255, 0, 0), 2)
            # 获取中心像素点
            center_x = int(x + w / 2)
            center_y = int(y + h / 2)
            cv.circle(cv_image, (center_x, center_y), 5, (0, 0, 255), -1)
            # 显示图像
            cv.imshow("Image", cv_image)

            # 运动控制,左右转向和移动
            if center_x < screen_center - offset:
                twist = Twist()
                twist.linear.x = 0.02
                twist.linear.y = 0.0
                twist.angular.z = 0.03
                try:
                    self.cmd_pub.publish(twist)
                except CvBridgeError as e:
                    print e
                print "turn left"
            elif screen_center - offset <= center_x <= screen_center + offset:
                if self.start_adjust_flag:
                    moveclean_adjust_flag = Int8()          
                    moveclean_adjust_flag.data = 1
                    i=0
                    while(1):
                        time.sleep(0.1)
                        self.moveclean_cmd.publish(moveclean_adjust_flag)
                        print "adjust start"
                        self.start_adjust_flag = False
                        i+=1
                        if(i==1):
                            break
                # print "keep"
            elif center_x > screen_center + offset:
                twist = Twist()
                twist.linear.x = 0.02
                twist.linear.y = -0.2
                twist.angular.z = -0.03
                try:
                    self.cmd_pub.publish(twist)
                except CvBridgeError as e:
                    print e
                print "turn right"
            else:
                twist = Twist()
                twist.linear.x = 0
                twist.angular.z = 0
                try:
                    self.cmd_pub.publish(twist)
                except CvBridgeError as e:
                    print e
                print "stop"
            cv.waitKey(3)
            # 发布运动指令
            
        def cleanReportCallback(self, msg):
            report_clean_flag = msg.data #0 Normal, 1 Finish Cleaning, 2 Stop Moving, 3 Moving
            if report_clean_flag == 1:
                if self.finish_clean_flag:
                    i=0
                    while(1):
                        time.sleep(1)
                        clean_flag = Int8()
                        moveclean_flag = Int8()
                        clean_flag.data = 3 
                        moveclean_flag.data = 5
                        self.moveclean_cmd.publish(clean_flag) # 2 start clean,3 stop clean
                        self.clean_cmd.publish(moveclean_flag) #3 forward cleaning, 4 reverse cleaning, 5 stop cleaning
                        print "finish clean"
                        self.finish_clean_flag = False
                        i+=1
                        if(i==1):
                            break
            elif report_clean_flag == 2:
                twist = Twist()
                twist.linear.x = 0
                twist.angular.z = 0
                try:
                    self.cmd_pub.publish(twist)
                except CvBridgeError as e:
                    print e
            elif report_clean_flag == 3:
                twist = Twist()
                twist.linear.x = 0.02
                twist.angular.z = 0
                try:
                    self.cmd_pub.publish(twist)
                except CvBridgeError as e:
                    print e

    def moveCleanReportCallback(self, msg):
        adjust_flag = msg.data
        if adjust_flag == 1:
            if self.finish_adjust_flag:
                i=0
                while(1):
                    time.sleep(3)
                    clean_flag = Int8()
                    moveclean_flag = Int8()
                    clean_flag.data = 2 
                    moveclean_flag.data = 3
                    self.moveclean_cmd.publish(clean_flag) # 2 start clean,3 stop clean
                    self.clean_cmd.publish(moveclean_flag) #3 forward cleaning, 4 reverse cleaning, 5 stop cleaning
                    print "finish adjust"
                    self.finish_adjust_flag = False
                    i+=1
                    if(i==1):
                        break

if __name__ == '__main__':
    try:
        rospy.init_node("cv_bridge_test")
        rospy.loginfo("Starting cv_bridge_test node")
        image_converter()
        rospy.spin()

    except KeyboardInterrupt:
        print "Shutting down cv_bridge_test node."
        cv.destroyAllWindows()
